/// <summary>
/// 单鱼推球过程中的数据记录，记录完成第一次完成各个单程的时间，及共完成单程的个数
/// </summary>
private void DataProcessingOnPushingBall()
{
MyMission myMission = MyMission.Instance();//当前仿真使命的信息
FishSingleFishPushBallAvoidObstacles fish = Teams[0].Fishes[0];
Ball ball = myMission.EnvRef.Balls[0];
//记录完成每个单程的时间和完成的单程数目
if ((fish.PositionMm.X > (myMission.EnvRef.ObstaclesRect[0].PositionMm.X + fish.BodyLength) && (finishedCountOneWay == 0)))
{//判断完成第一次完成第一个单程
finshedTimeOneWay[0] = myMission.ParasRef.TotalSeconds - myMission.ParasRef.RemainingCycles / myMission.ParasRef.MsPerCycle;
finishedCountOneWay = 1;
}
else if ((fish.PositionMm.X > (myMission.EnvRef.ObstaclesRect[9].PositionMm.X + fish.BodyLength) && (finishedCountOneWay == 1)))
{//判断完成第一次完成第二个单程
finshedTimeOneWay[1] = myMission.ParasRef.TotalSeconds - myMission.ParasRef.RemainingCycles / myMission.ParasRef.MsPerCycle;;
finishedCountOneWay = 2;
}
else if ((fish.PositionMm.X < (myMission.EnvRef.ObstaclesRect[9].PositionMm.X - fish.BodyLength) && (finishedCountOneWay == 2)) &&
(ball.PositionMm.X < (myMission.EnvRef.ObstaclesRect[9].PositionMm.X - ball.RadiusMm * 2)))
{//判断完成第一次完成第三个单程
finshedTimeOneWay[2] = myMission.ParasRef.TotalSeconds - myMission.ParasRef.RemainingCycles / myMission.ParasRef.MsPerCycle;;
finishedCountOneWay = 3;
}
else if ((fish.PositionMm.X < (myMission.EnvRef.ObstaclesRect[0].PositionMm.X - fish.BodyLength) && (finishedCountOneWay == 3)) &&
(ball.PositionMm.X < (myMission.EnvRef.ObstaclesRect[0].PositionMm.X - ball.RadiusMm * 2)))
{//判断完成第一次完成第四个单程
finshedTimeOneWay[3] = myMission.ParasRef.TotalSeconds - myMission.ParasRef.RemainingCycles / myMission.ParasRef.MsPerCycle;;
finishedCountOneWay = 4;
}
}
/// <summary>
/// 单鱼推球避障，机器鱼或者球碰到障碍物的处理
/// </summary>
private void HandleWhileFoul()
{
MyMission myMission = MyMission.Instance();//当前仿真使命的信息
FishSingleFishPushBallAvoidObstacles fish = Teams[0].Fishes[0];
Ball ball = myMission.EnvRef.Balls[0];
//myMission.ParasRef.IsPauseNeeded = true;//这里还待考虑
if (collisionFishAndObstacles)
{
System.Windows.Forms.MessageBox.Show(" Collision between Fish and Obstacles", "Time - 5s");
CommonPara.RemainingCycles -= 5000 / CommonPara.MsPerCycle;
// 有鱼碰到障碍物的犯规情况出现时，将鱼移到已完成单程，进入下一个单程的初始位置；
if (finishedCountOneWay == 0)
{
fish.PositionMm.X = myMission.EnvRef.ObstaclesRect[1].PositionMm.X - myMission.EnvRef.ObstaclesRect[1].LengthMm - fish.BodyLength;
fish.PositionMm.Z = myMission.EnvRef.ObstaclesRect[4].PositionMm.Z - myMission.EnvRef.ObstaclesRect[4].WidthMm + fish.BodyWidth;
fish.BodyDirectionRad = 0;
fish.VelocityDirectionRad = 0;
}
else if (finishedCountOneWay == 1)
{
fish.PositionMm.X = myMission.EnvRef.ObstaclesRect[4].PositionMm.X + myMission.EnvRef.ObstaclesRect[4].LengthMm + fish.BodyLength;
fish.PositionMm.Z = myMission.EnvRef.ObstaclesRect[4].PositionMm.Z + myMission.EnvRef.ObstaclesRect[4].WidthMm + fish.BodyWidth;
fish.BodyDirectionRad = 0;
fish.VelocityDirectionRad = 0;
}
else if (finishedCountOneWay == 2)
{
fish.PositionMm.X = myMission.EnvRef.ObstaclesRect[9].PositionMm.X + myMission.EnvRef.ObstaclesRect[9].LengthMm + fish.BodyLength;
fish.PositionMm.Z = myMission.EnvRef.ObstaclesRect[9].PositionMm.Z + myMission.EnvRef.ObstaclesRect[9].WidthMm + fish.BodyWidth;
fish.BodyDirectionRad = (float)Math.PI;
fish.VelocityDirectionRad = 0;
}
else if (finishedCountOneWay == 3)
{
fish.PositionMm.X = myMission.EnvRef.ObstaclesRect[4].PositionMm.X - myMission.EnvRef.ObstaclesRect[4].LengthMm - fish.BodyLength;
fish.PositionMm.Z = myMission.EnvRef.ObstaclesRect[4].PositionMm.Z + myMission.EnvRef.ObstaclesRect[4].WidthMm + fish.BodyWidth;
fish.BodyDirectionRad = (float)Math.PI;
fish.VelocityDirectionRad = 0;
}
collisionFishAndObstacles = false;
presentCollisionCycle = CommonPara.RemainingCycles;
collisionFlag = true;
}
if (collisionBallAndObstacles)
{
System.Windows.Forms.MessageBox.Show("Collision between Ball and Obstacles", "Time - 3s");
CommonPara.RemainingCycles -= 3000 / CommonPara.MsPerCycle;
// 有球撞到障碍物的犯规情况出现时，球也移到相应的位置
if ((finishedCountOneWay == 0) || (finishedCountOneWay == 1) || (finishedCountOneWay == 2))//完成2个单程之前，球都应该保持在初始位置附近
{
//球的初始位置
ball.PositionMm.X = 1030;
ball.PositionMm.Z = 0;
ball.VelocityMmPs = 0;
ball.VelocityDirectionRad = 0;
}
else if (finishedCountOneWay == 3)//已经只差最后一个单程了，此时球在碰到障碍物设置球在原点
{
ball.PositionMm.X = 0;
ball.PositionMm.Z = 0;
ball.VelocityMmPs = 0;
ball.VelocityDirectionRad = 0;
}
collisionBallAndObstacles = false;
presentCollisionCycle = CommonPara.RemainingCycles;
collisionFlag = true;
}
}